Region-based depth feature map for visual attention in autonomous mobile Systems

Abstract

In this contribution we present a fast region based approach for distance estimation within a bottom-up visual attention model. The feature "depth" is utilized to focus the attention on objects that are closer to the mobile robot in order to accelerate the overall process of visual attention. Due to the fact that in the Stereo algorithm we only search for corresponding segments determined by color segmentation, we provide a fast method for usage in mobile Systems. Although we do not achieve very dense depth maps, the accuracy is sufficient for collision avoidance and the integration of the obtained depth map into the attention model.